HAL_AVR: fixed race condition in delay()

2012-12-06 13:37:56 +11:00 · 2012-12-06 13:37:56 +11:00 · 0f3e30a0c3
parent ca4bc8d760
commit 0f3e30a0c3
1 changed files with 2 additions and 0 deletions
--- a/libraries/AP_HAL_AVR/Scheduler.cpp
+++ b/libraries/AP_HAL_AVR/Scheduler.cpp
@ -1,3 +1,4 @@
+/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

 #include <avr/io.h>
 #include <avr/interrupt.h>
@ -183,6 +184,7 @@ void AVRScheduler::delay(uint32_t ms)
    while (ms > 0) {
        while ((micros() - start) >= 1000) {
            ms--;
+            if (ms == 0) break;
            start += 1000;
        }
        if (_min_delay_cb_ms <= ms) {